Inno2018 Emt2502 Vibrations Undamped Mdof

LECTURE NOTES
EMT 2502 VIBRATIONS

MECHATRONIC ENGINEERING
Y5 S1
DeKUT
By
Inno Odira

c Copyright by Inno Odira, 2018
Table of Contents
Table of Contents iii

0.1 MDOF Undamped Forced Response . . . . . . . . . . . . . . . . . . . . . . 1
0.2 Vibration Absorber Without Damping . . . . . . . . . . . . . . . . . . . . . 3
Bibliography 6
REFERENCES 6
iii
1
0.1 MDOF Undamped Forced Response
Example:
Consider a simple 2DOF mass- spring system Fig. 1
Figure 1: 2DOF Mass-Spring system
EOM: 2DOF hence 2 Equations of motion
For m1
m1 ẍ1 = −k1 x1 − k2 (x1 − x2 ) + f1 ⇒ m1 ẍ1 + (k1 + k2 )x1 − k2 x2 = f1
For m2
m2 ẍ2 = k2 (x1 − x2 ) − k3 x2 + f2 ⇒ m2 ẍ2 + (k1 + k3 )x2 − k2 x1 = f2
In Matrix form:
" #" # " #" # " #
m1 0 ẍ1 k1 + k2 −k2 x1 f1
+ = (1)
0 m2 ẍ2 −k2 k2 + k3 X2 f2
| {z } | {z } | {z } | {z } | {z }
M Ẍ K X F
In a familiar form
M Ẍ + KX = F (2)
Assume The forcing function is harmonic:
f1 = f¯1 cos ωt and f2 = f¯2 cos ωt

We can assume a solutions:
x1 = x̄1 cos ωt and x2 = x̄2 cos ωt (3)

2
Differentiate (8)and substitute into the equation of motion (??)
" #" # " #" # " #
m1 0 x̄1 k1 + k2 −k2 x̄1 f¯1
−ω 2 + = (4)
0 m2 x̄2 −k2 k2 + k3 x̄2 f¯2
Equivalent to
[K − ω 2 M ]X̄ = F̄ (5)
To have a solution [K − ω 2 M ] must be invertible.
Thus
[K − ω 2 M ]X̄ = F̄ → X̄ = [K − ω 2 M ]−1 F (6)
For our example problem.
X̄ = [K − ω 2 M ]−1 F
" #−1
ki + k2 − ω 2 m1 −k2
= F̄
−k2 k2 + k3 − ω 2 m1
" #" #
1 k2 + k3 − ω 2 m1 k2 f¯1
=
det[K − ω 2 M ] k2 ki + k2 − ω 2 m1 f¯2
Let
∆(ω) = det [K − ω 2 M ] = (k1 + k2 − ω 2 m1 )(k2 + k3 − ω 2 m2 ) − k22

| {z }
characteristic polynomial
Solving for X̄1 and X̄2
(k2 + k3 − ω 2 m1 )f¯1 + k2 f¯2

X̄1 =
∆(ω)
k2 f1 + (k1 + k2 − ω 2 m2 )f¯2 +
¯
X̄2 =
∆(ω)
Note:Both denominators ∆(ω) are characteristic polynomial.

Then
1. den ∆(ω) = 0 at the natural frequencies
2. If numerator num 6= 0 at natural frequencies, then the response goes ∞ at each natural
frequency as shown in Fig . 2
3
Figure 2: Response of forced undamped 2DOF Mass-Spring system
Figure 3: Vibration absorber
0.2 Vibration Absorber Without Damping

Example:
Consider a simple 1DOF mass- spring system Fig. 3 (a), Can we design a vibration absorber
to minimize the response of x1 to f (t) ?
EOM: 2DOF hence 2 Equations of motion
4
For m1
m1 ẍ1 = −k1 x1 − k2 (x1 − x2 ) + f ⇒ m1 ẍ + (k1 + k2 )x1 − k2 x2 = f
For m2
m2 ẍ2 = k1 (x1 − x2 ) ⇒ m2 ẍ2 + k1 x2 − k1 x1 = 0
In Matrix form:
" #" # " #" # " #
m1 0 ẍ1 k1 + k2 −k2 x1 f
+ = (7)
0 m2 ẍ2 −k2 k1 X2 0
Assume The forcing function is harmonic:
" #
f¯
f (t) = f¯eiωt so F = eiωt F = F̄ eiωt
0
We can assume a solution x(t) to match the form of f (t):
X(t) = X̄eiωt (8)
Substitute into the equation of motion and collect terms

Thus
[K − ω 2 M ]X̄ = F̄ → X̄ = [K − ω 2 M ]−1 F (9)
For our example problem.
X̄ = [K − ω 2 M ]−1 F
" #−1 " #
ki + k2 − ω 2 m1 −k2 f¯
X̄ =
−k2 k2 + −ω 2 m2 0
" #" #
1 k2 − ω 2 m2 k2 f¯
=
det[K − ω 2 M ] k2 ki + k2 − ω 2 m1 0
Let
∆(ω) = det [K − ω 2 M ] = (k1 + k2 − ω 2 m1 )(k2 − ω 2 m2 ) − k22

| {z }
characteristic polynomial
Solving for X̄1 and X̄2

(k2 − ω 2 m2 )f¯
X̄1 =
∆(ω)
k2 f¯
X̄2 =
∆(ω)
q 5
2 k2
Note: We can make response of mass m1 X̄1 = 0 if k2 − ω m2 = 0 → ω= m2
.
Look at the FBD 3, If the Spring force Fsp2 is exactly opposite of f (t) for all time, then
there are no external forces on m1 (Assume x1 = 0)
Let us look at the equation of motion
q q
Assume f (t) = f cos(ωn t) where ωn = m1 = mk22
k1
With
k1 k2
∆(ω) = (k1 +k2 −ω 2 m1 )(k2 −ω 2 m2 )−k22 = (k1 +k2 − m1 )(k2 − m2 )−k22 = (k2 )(0)−k22
m1 m2
Thus
(k2 )f¯
X̄2 =
−k22
Then
−f¯
X̄2 (t) = cos ωn t
k2
And the resulting spring force
−f¯

Fsp2 = k2 (X2 ) = k2 cos ωn t = −f¯ cos(ωn t)
k2 | {z }
Exactly cancels the excitation force
REFERENCES

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LECTURE NOTES

EMT 2502 VIBRATIONS

Table of Contents iii

Figure 1: 2DOF Mass-Spring system

EOM: 2DOF hence 2 Equations of motion

m1 ẍ1 = −k1 x1 − k2 (x1 − x2 ) + f1 ⇒ m1 ẍ1 + (k1 + k2 )x1 − k2 x2 = f1

m2 ẍ2 = k2 (x1 − x2 ) − k3 x2 + f2 ⇒ m2 ẍ2 + (k1 + k3 )x2 − k2 x1 = f2

f1 = f¯1 cos ωt and f2 = f¯2 cos ωt

x1 = x̄1 cos ωt and x2 = x̄2 cos ωt (3)

Solving for X̄1 and X̄2

(k2 + k3 − ω 2 m1 )f¯1 + k2 f¯2

Note:Both denominators ∆(ω) are characteristic polynomial.

1. den ∆(ω) = 0 at the natural frequencies

Figure 2: Response of forced undamped 2DOF Mass-Spring system

Figure 3: Vibration absorber

0.2 Vibration Absorber Without Damping

m1 ẍ1 = −k1 x1 − k2 (x1 − x2 ) + f ⇒ m1 ẍ + (k1 + k2 )x1 − k2 x2 = f

Assume The forcing function is harmonic:

X(t) = X̄eiωt (8)

Substitute into the equation of motion and collect terms

Solving for X̄1 and X̄2

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